CN114394086B - Vehicle control method and device, vehicle and storage medium - Google Patents
Vehicle control method and device, vehicle and storage medium Download PDFInfo
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- CN114394086B CN114394086B CN202111520760.1A CN202111520760A CN114394086B CN 114394086 B CN114394086 B CN 114394086B CN 202111520760 A CN202111520760 A CN 202111520760A CN 114394086 B CN114394086 B CN 114394086B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
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- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
According to the vehicle control method, the vehicle control device, the vehicle and the storage medium, the first coordinate information corresponding to the center point of the tail end of the trailer is obtained, and the second coordinate information corresponding to the target point on the expected reversing track of the vehicle is obtained; determining an expected hinge angle of the vehicle according to the first coordinate information and the second coordinate information; the current front wheel steering angle of the vehicle is determined according to the actual hinge angle and the expected hinge angle of the vehicle, so that the vehicle runs according to the front wheel steering angle. According to the method and the device for controlling the front wheel steering angle of the vehicle, the expected hinging angle of the vehicle is calculated in real time through the target point on the expected reversing track and the current coordinate of the vehicle, so that the front wheel steering angle of the vehicle is regulated in real time according to the expected hinging angle, the stability of the vehicle in the reversing process can be effectively improved, the trailer is prevented from deviating from the expected reversing track, and the safe and accurate expected reversing position of the vehicle is further ensured.
Description
Technical Field
The present disclosure relates to automatic driving technology, and in particular, to a vehicle control method, device, vehicle, and storage medium.
Background
With the continuous development of logistics transportation industry, the demands of the society on large-sized vehicles are increasing nowadays, for example, heavy-duty collector cards composed of tractors and semitrailers and the like, and the large-sized vehicles have the characteristics of large carrying capacity, long vehicle body, poor visual angle and the like, and have higher driving difficulty.
In the related art, in order to reduce driving difficulty, an automatic driving technology is introduced into such a large-sized vehicle, and a transverse control algorithm is generally adopted in the current automatic driving technology to control the running of the vehicle. However, during the reversing process, the connection between the two rigid bodies of the tractor and the semitrailer is nonlinear, and the connection between the two rigid bodies is not stable enough, so that the vehicle can be folded and collided.
Disclosure of Invention
The application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, which are used for solving the problem that a large vehicle is easy to fold and collide in a reversing process.
In a first aspect, the present application provides a vehicle control method, the vehicle including a head and a trailer, the control method comprising: acquiring first coordinate information corresponding to a tail end center point of a trailer; acquiring second coordinate information corresponding to a target point on an expected reversing track of the vehicle; determining an expected hinge angle of the vehicle according to the first coordinate information and the second coordinate information; determining a current front wheel steering angle of the vehicle according to the actual hinging angle and the expected hinging angle of the vehicle so as to enable the vehicle to run according to the front wheel steering angle;
the expected hinging angle is an expected included angle between the headstock and the trailer in the process that the tail end center point of the vehicle reaches the target point, and the actual hinging angle is a current actual included angle between the headstock and the trailer.
In some embodiments, obtaining first coordinate information corresponding to a center point of a tail end of a trailer includes: acquiring third coordinate information of a gravity center point of the vehicle head and an actual hinging angle; and determining first coordinate information corresponding to the tail end center point of the trailer according to the third coordinate information and the actual hinging angle.
In some embodiments, obtaining second coordinate information corresponding to a target point on a desired reverse trajectory of the vehicle includes: determining a point, which is located on the expected reversing track and is located at a target distance from the tail end center point, as a target point, wherein the target distance is obtained according to the deviation distance between the vehicle and the expected reversing track; and determining second coordinate information corresponding to the target point according to the target distance and the first coordinate information.
In some embodiments, determining the desired articulation angle of the vehicle based on the first coordinate information and the second coordinate information includes: determining a target angle according to the first coordinate information and the second coordinate information, wherein the target angle is an included angle between a connecting line of a tail end center point and a target point and a central line of the trailer; from the target angle, a desired articulation angle of the vehicle is determined.
In some embodiments, determining a front wheel steering angle of the vehicle based on an actual articulation angle and a desired articulation angle of the vehicle includes:
acquiring an actual hinge angle of a vehicle; if the actual hinging angle is smaller than or equal to the safety threshold value, determining a front wheel steering angle of the vehicle according to the first feedback coefficient, the actual hinging angle and the expected hinging angle of the vehicle; if the actual hinging angle is larger than the safety threshold, acquiring the front wheel steering angle of the vehicle according to the second feedback coefficient and the actual hinging angle; wherein the first feedback coefficient and the second feedback coefficient are obtained according to a steering wheel adjustment condition of the vehicle.
In a second aspect, the present application provides a vehicle control apparatus, the vehicle including a head and a trailer, the vehicle control apparatus comprising:
the acquisition module is used for acquiring first coordinate information corresponding to a tail end center point of the trailer and acquiring second coordinate information corresponding to a target point on an expected reversing track of the vehicle;
the determining module is used for determining an expected hinging angle of the vehicle according to the first coordinate information and the second coordinate information, and determining the current front wheel steering angle of the vehicle according to the actual hinging angle and the expected hinging angle of the vehicle so as to enable the vehicle to run according to the front wheel steering angle; the expected hinging angle is an expected included angle between the headstock and the trailer in the process that the tail end center point of the vehicle reaches the target point, and the actual hinging angle is a current actual included angle between the headstock and the trailer.
In some embodiments, the obtaining module is specifically configured to: acquiring third coordinate information of a gravity center point of the vehicle head and an actual hinging angle; and determining first coordinate information corresponding to the tail end center point of the trailer according to the third coordinate information and the actual hinging angle.
In some embodiments, the obtaining module is specifically configured to: determining a point, which is located on the expected reversing track and is located at a target distance from the tail end center point, as a target point, wherein the target distance is obtained according to the deviation distance between the vehicle and the expected reversing track; and determining second coordinate information corresponding to the target point according to the target distance and the first coordinate information.
In some embodiments, the determining module is specifically configured to: determining a target angle according to the first coordinate information and the second coordinate information, wherein the target angle is an included angle between a connecting line of a tail end center point and a target point and a central line of the trailer; from the target angle, a desired articulation angle of the vehicle is determined.
In some embodiments, the vehicle control apparatus further includes a processing module, the acquisition module further configured to: acquiring an actual hinge angle of a vehicle; the processing module is used for: if the actual hinging angle is larger than the safety threshold, acquiring the front wheel steering angle of the vehicle according to the actual hinging angle; if the actual articulation angle is less than or equal to the safety threshold, determining a front wheel steering angle of the vehicle according to the actual articulation angle and the expected articulation angle of the vehicle.
In some embodiments, the processing module is specifically configured to: acquiring an actual hinge angle of a vehicle; if the actual hinging angle is smaller than or equal to the safety threshold value, determining a front wheel steering angle of the vehicle according to the first feedback coefficient, the actual hinging angle and the expected hinging angle of the vehicle; if the actual hinging angle is larger than the safety threshold, acquiring the front wheel steering angle of the vehicle according to the second feedback coefficient and the actual hinging angle; wherein the first feedback coefficient and the second feedback coefficient are obtained according to a steering wheel adjustment condition of the vehicle.
In a third aspect, an embodiment of the present application provides an electronic device, including: a memory and a processor; the memory is used for storing program instructions; the processor is configured to invoke the program instructions in the memory to perform the vehicle control method as in the first aspect.
In a fourth aspect, embodiments of the present application provide a vehicle, including: a vehicle head, a trailer, and the vehicle control apparatus of the third aspect.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements the vehicle control method of the first aspect.
According to the vehicle control method, the vehicle control device, the vehicle and the storage medium, the first coordinate information corresponding to the center point of the tail end of the trailer is obtained, and the second coordinate information corresponding to the target point on the expected reversing track of the vehicle is obtained; determining an expected hinge angle of the vehicle according to the first coordinate information and the second coordinate information; the current front wheel steering angle of the vehicle is determined according to the actual hinge angle and the expected hinge angle of the vehicle, so that the vehicle runs according to the front wheel steering angle. According to the method and the device for controlling the front wheel steering angle of the vehicle, the expected hinging angle of the vehicle is calculated in real time through the target point on the expected reversing track and the current coordinate of the vehicle, so that the front wheel steering angle of the vehicle is regulated in real time according to the expected hinging angle, the stability of the vehicle in the reversing process can be effectively improved, the trailer is prevented from deviating from the expected reversing track, and the safe and accurate expected reversing position of the vehicle is further ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic view of a scenario provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a vehicle control method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a vehicle control process provided in an embodiment of the present application;
fig. 4 is a second schematic flow chart of the vehicle control method according to the embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
Fig. 1 is a schematic diagram of a vehicle control method according to an embodiment of the present application. As shown in fig. 1, the vehicle includes a head and a trailer portion.
In the reversing process of the vehicle, an expected reversing track is obtained according to the current position and the target reversing position of the vehicle, wherein the expected reversing track is a track passed by the gravity center point of the vehicle head in the reversing process of the vehicle from the current position to the target reversing position.
In practical application, the actual reversing track of the vehicle is related to the front wheel steering angle of the headstock, reversing can be ensured according to the expected reversing track by adjusting the front wheel steering angle in real time, and the vehicle can be reversed to the target reversing position according to the expected reversing track by adjusting the front wheel steering angle of the vehicle in real time according to the expected reversing track, so that accurate reversing is realized.
In the related art, in order to reduce the driving difficulty of a large vehicle, an automatic driving technology is introduced into the large vehicle, and a transverse control algorithm is generally adopted in the current automatic driving technology to control the running of the vehicle. However, in the reversing process, the connection between the traction headstock and the two rigid bodies of the semitrailer is nonlinear, the connection between the traction headstock and the two rigid bodies is not stable enough, and in the reversing process, phenomena such as folding and collision between the headstock and the trailer of the vehicle can occur.
In view of this, the embodiments of the present application provide a vehicle control method, apparatus, vehicle, and storage medium, in a vehicle reversing process, an expected hinge angle of a vehicle is calculated in real time through a target point on an expected reversing track and a current coordinate of the vehicle, so that a front wheel steering angle of the vehicle is adjusted in real time according to the expected hinge angle, thereby effectively improving stability of the vehicle in a reversing process, preventing a trailer from deviating from the expected reversing track, and further ensuring that the vehicle safely and accurately reaches an expected reversing position.
The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 2 is a schematic flow chart of a vehicle control method according to an embodiment of the present application. It should be understood that the execution subject of the vehicle control method may be a vehicle or a control device of the vehicle, for example, a vehicle-mounted computer, a tablet computer, or the like.
As shown in fig. 2, the vehicle control method provided in the embodiment of the present application includes the following steps:
s201, acquiring first coordinate information corresponding to a tail end center point of the trailer.
The first coordinate information may be obtained by measuring a sensor at a center point of a tail end of the vehicle in real time during a reversing process of the vehicle.
S202, second coordinate information corresponding to a target point on an expected reversing track of the vehicle is acquired.
The expected reversing track is a track through which the gravity center point of the headstock passes in the process that the vehicle makes a right angle turn from the current position and reverses to the target reversing position. Accordingly, the target point is a point having a distance d from the center point of the trailing end of the trailer when the vehicle is reversed according to the desired trajectory, and it should be understood that the embodiment of the present disclosure is not specifically limited as to the specific value of d.
In one aspect, the value of d may be determined based on the actual length of the vehicle, e.g., the longer the length of the vehicle, the greater the turning radius thereof, and d may be set to a greater value.
On the other hand, the value of d may also be determined according to the length of the desired reverse trajectory. For example, the longer the reverse trajectory is expected, the larger the d may be set.
In other embodiments, the distance d may be corrected in real time according to the deviation distance of the vehicle from the expected reverse track at the current moment.
Alternatively, the value of d may be 15 meters for tractors and semi-trailers.
Further, according to the current position of the vehicle, a target point corresponding to the current position is found on the expected reversing track in real time, and then according to the value of d and the first coordinate information, second coordinate information corresponding to the target point is determined.
Fig. 3 is a schematic diagram of a vehicle control procedure according to an embodiment of the present application. As shown in fig. 3, during the reverse of the vehicle, first coordinate information (x r ，y r ，θ r ) Acquiring a target point with a distance d from a tail end center point on a desired reversing track in real time, and determining second coordinate information (x g ，y g )。
S203, determining the expected hinge angle of the vehicle according to the first coordinate information and the second coordinate information.
The hinging angle is the hinging angle between the headstock and the trailer in the turning and reversing process of the vehicle; the desired articulation angle is the angle at which the vehicle should remain between the head and the trailer when the vehicle is in the current position, as long as the vehicle is to reach the target parking position during reverse.
In practical application, the expected hinging angle can be determined through the included angle between the central axis of the headstock when the vehicle is at the current position and the central axis of the headstock when the vehicle is at the target point.
Firstly, determining a target angle alpha between a tail end center point of a vehicle and a target point according to first coordinate information and second coordinate information, wherein the target angle alpha is an included angle between a central axis of a head of the vehicle at a current position and the central axis of the head of the vehicle at the target point.
Please continue to refer to fig. 3, as shown in fig. 3, the central axis of the headstock at the current position is l 1 The central axis of the headstock at the target point is l 2 For example, byAnd obtaining the target angle alpha by the second coordinate information of the target point and the coordinate information of the center point of the tail end of the vehicle.
It should be understood that the target angle α may be obtained according to the geometric relationship between the target point and the tail end center point, and the specific calculation method is not limited herein.
Further, in obtaining l 1 And/l 2 After the target angle alpha of the vehicle is reached, the expected hinging angle corresponding to the current position of the vehicle can be obtained according to the following formula
Wherein d is the target distance, d 1 Is the wheelbase of the trailer.
S204, determining the current front wheel steering angle of the vehicle according to the actual hinging angle and the expected hinging angle of the vehicle, so that the vehicle runs according to the front wheel steering angle.
The actual hinging angle is the current actual included angle between the headstock and the trailer when the vehicle is at the current position, and can be measured through a sensor at the connecting point of the headstock and the trailer.
It should be appreciated that the scheme of determining the current front wheel steering angle of the vehicle according to the actual articulation angle and the desired articulation angle is shown in the following embodiments.
According to the vehicle control method, the expected hinging angle of the vehicle is calculated in real time through the target point on the expected reversing track and the current coordinates of the vehicle, so that the front wheel steering angle of the vehicle is adjusted in real time according to the expected hinging angle, the stability of the vehicle in the reversing process can be effectively improved, the trailer is prevented from deviating from the expected reversing track, and the safe and accurate achievement of the expected reversing position of the vehicle is further ensured.
Fig. 4 is a second schematic flow chart of the vehicle control method according to the embodiment of the present application. In this embodiment, a more detailed description will be given on the basis of the embodiment shown in fig. 2. As shown in fig. 4, the vehicle control method provided in the present embodiment includes the steps of:
s401, acquiring third coordinate information of a gravity center point of the locomotive and an actual hinging angle.
S402, determining first coordinate information corresponding to the tail end center point of the trailer according to the third coordinate information and the actual hinging angle.
The third coordinate information of the gravity center point of the vehicle head and the actual hinging angle are obtained by measuring the vehicle in real time through a sensor in the reversing process of the vehicle.
In this embodiment of the present application, after obtaining the third coordinate information of the center of gravity point of the vehicle head and the current actual articulation angle of the vehicle, the first coordinate information (x) corresponding to the center point of the tail end of the trailer may be obtained by the following formula r ，y r ，θ r ) Wherein the third coordinate information of the vehicle center of gravity point is (x, y, θ):
x r ＝x-d 1 cosθcosφ-hcosθ+d 1 sinθsinφ
y r ＝y-d 1 sinθcosφ-hsinθ+d 1 cosθsinφ
θ r ＝θ+φ
wherein d 1 For the wheelbase of the trailer, h is the distance from the connection point of the trailer and the locomotive to the gravity center point of the locomotive, phi is the actual hinging angle of the locomotive and the trailer, and it is understood that the wheelbase d of the trailer of different vehicles 1 The distances h from the connecting point of the trailer and the locomotive to the gravity center point of the locomotive are different, and the embodiment of the application is specific to d 1 And h is not limited.
S403, determining a point, which is the target distance from the tail end center point, on the expected reversing track as the target point.
S404, determining second coordinate information corresponding to the target point according to the target distance and the first coordinate information.
S405, determining the target angle according to the first coordinate information and the second coordinate information.
The target angle is an included angle between the central axis of the vehicle at the current position and the central axis of the vehicle at the target point.
S406, determining the expected hinge angle of the vehicle according to the target angle.
The target distance is obtained according to the deviation distance between the vehicle and the desired reversing track, and it should be understood that the schemes of steps S403 to S406 are similar to steps S202 to S203 in the embodiment shown in fig. 3, and will not be repeated here.
S407, determining the front wheel steering angle of the vehicle according to the actual hinging angle and the expected hinging angle of the vehicle.
Specifically, the step S407 includes the following steps:
(1) An actual articulation angle of the vehicle is obtained.
The actual hinging angle is the current actual included angle between the headstock and the trailer when the vehicle is at the current position, and can be measured through a sensor at the connecting point of the headstock and the trailer.
(2) And if the actual articulation angle is smaller than or equal to the safety threshold value, determining the front wheel steering angle of the vehicle according to the first feedback coefficient, the actual articulation angle and the expected articulation angle of the vehicle.
In some embodiments, the safety threshold may be an empirical value for avoiding a folding collision between the vehicle head and the trailer, and the specific size of the safety threshold is not limited in the embodiments of the present application.
Specifically, when the current actual articulation angle of the vehicle is smaller than or equal to the safety threshold, it is indicated that the risk of folding and collision of the current vehicle head and the trailer is small, and at this time, the front wheel steering angle of the vehicle can be synchronously determined according to the first feedback coefficient, the actual articulation angle of the vehicle and the expected articulation angle.
(3) And if the actual hinging angle is larger than the safety threshold, acquiring the front wheel steering angle of the vehicle according to the second feedback coefficient and the actual hinging angle.
When the actual hinging angle is larger than the safety threshold, namely the traction included angle of the trailer is too large, the current risk of folding and collision of the locomotive and the trailer at the moment is indicated, the front wheel steering angle of the vehicle needs to be adjusted according to the actual hinging angle, and the traction included angle of the locomotive and the trailer is adjusted in the safety range, so that the locomotive and the trailer are prevented from being folded or collided.
Further, after the front wheel steering angle is obtained, reversing is continued according to the front wheel steering angle, according to the schemes of the steps S401 to S406, the expected hinging angle and the actual hinging angle of the vehicle in the reversing process are obtained in real time, when the actual hinging angle of the vehicle is adjusted to be smaller than or equal to a safety threshold value, the situation that the folding and collision risks of the vehicle head and the trailer are eliminated is indicated, and at the moment, the front wheel steering angle of the vehicle can be adjusted according to the mode of the step (2).
Specifically, the front wheel steering angle of the vehicle may be obtained according to the following formula:
where u is the front wheel steering angle, k, of the vehicle 1 For the first feedback coefficient, k 2 For the second feedback coefficient, k 3 As a result of the third feedback coefficient,for the safety threshold value, phi is the current actual articulation angle of the vehicle, phi r For the current desired articulation angle of the vehicle, +.>
From the above formula, the safety threshold can be determined according to the third feedback coefficient k 3 And carrying out real-time adjustment.
It should be appreciated that embodiments of the present application are directed to the first feedback coefficient k 1 Second feedback coefficient k 2 And a third feedback coefficient k 3 The adjustment manner of (c) is not particularly limited.
In practical application, the first feedback coefficient k 1 The larger the value of (a) is, the width of adjustment of the front wheel steering angle uThe larger the degree is, the closer the trailer is to the expected reversing track, but in the process, the actual hinging angle obtained after adjustment is closer to the safety threshold, so that potential safety hazards appear.
Therefore, the first feedback coefficient k1 can be adjusted in real time according to the actual hinging angle of the vehicle head and the trailer, specifically, when the actual hinging angle is smaller than the safety threshold value and the difference value of the two is larger than the preset difference value, the front wheel direction can be adjusted by a larger adjusting amplitude, so that the trailer is quickly close to the expected reversing track, and in the reversing process of the vehicle, if the actual hinging angle is smaller than the safety threshold value and the difference value of the two is larger than the preset difference value, the first feedback coefficient k can be linearly increased according to the difference value 1 (the larger the difference, the larger the value of k 1), with a first feedback coefficient k 1 For example, k, with a preferred value of 1 and an adjustment interval of 0.2 1 The values can be 1.2, 1.4, 1.6.
Correspondingly, if the actual hinge angle is smaller than the safety threshold and the difference value of the two is smaller than the preset difference value, the front wheel direction needs to be adjusted by a smaller amplitude to prevent potential safety hazards caused by overlarge adjustment amplitude, specifically, the first feedback coefficient k can be linearly reduced according to the difference value 1 (the smaller the difference, k 1 Smaller value) still with the first feedback coefficient k 1 For example, k, with a preferred value of 1 and an adjustment interval of 0.2 1 The values can be 0.8, 0.6, 0.4 in order.
For the second feedback coefficient k 2 When the actual hinge angle is greater than the safety threshold, the second feedback coefficient k needs to be increased 2 To reduce the front steering angle u and thereby the articulation angle of the vehicle, but a second feedback coefficient k 2 The larger the front wheel steering angle u is, the larger the adjusting amplitude (i.e. the larger the steering angle), and when the adjusting amplitude is too large, the potential safety hazard also occurs, so in the reversing process, the steering angle of the steering wheel of the vehicle needs to be controlled to prevent the potential safety hazard from occurring due to too fast steering adjustment, and the second feedback coefficient k is as follows 2 The correspondence between the actual hinge angle and the second feedback coefficient k is not specifically limited, and the embodiment of the present application is preferably 2 The value of (2) is 0.6.
For the third feedback coefficient k 3 Can be determined according to the deviation amplitude of the trailer from the target point and the acceptable maximum articulation angle of the vehicle in the reversing process, if the acceptable maximum articulation angle of the vehicle is larger, k 3 Can be correspondingly reduced, if the maximum acceptable articulation angle of the vehicle is smaller, k 3 Can be correspondingly increased, as for the third feedback coefficient k 3 The correspondence between the maximum hinge angle and the third feedback coefficient k is not particularly limited, and the embodiment of the present application is preferably 3 Has a value of 6.
Note that, in the embodiment of the present application, the preferred value and the value of the adjustment interval corresponding to each feedback coefficient are not particularly limited.
In the embodiment of the application, the front wheel steering angle of the vehicle can be obtained by adopting the piecewise linear feedback method through the formula.
In particular, when the actual articulation angle is greater than the safety threshold, i.e.Being greater than 0, that is the trailer traction included angle is too big, the locomotive and the trailer at this moment of description have the risk of folding collision at present, and at this moment, through adjusting the value of m to 0 to realize the front wheel steering angle u of adjusting the vehicle according to actual hinge angle phi, thereby adjust the traction included angle of locomotive and trailer in the safe range, avoid locomotive and trailer to take place folding or collision.
When the actual articulation angle phi of the vehicle is less than or equal to the safety threshold, i.eWhen the value of m is smaller than or equal to 0, the situation that the folding and collision risks of the head and the trailer of the vehicle do not exist at present is indicated, at the moment, the value of m is not zero, and the actual hinging angle phi and the expected hinging angle phi can be further achieved r The front wheel steering angle u of the vehicle is synchronously adjusted.
In the embodiment of the application, the front wheel steering angle of the expected vehicle is optimized by adopting the piecewise linear feedback method, so that potential safety hazards caused by overlarge actual hinging angle of the vehicle can be prevented, and the vehicle is prevented from being folded or collided with a trailer while being backed up according to the expected backing track.
Fig. 5 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application. The vehicle includes a head and a trailer, and the vehicle control apparatus 500 includes:
the acquisition module 501 is configured to acquire first coordinate information corresponding to a center point at a tail end of a trailer, and acquire second coordinate information corresponding to a target point on an expected reversing track of a vehicle;
a determining module 502, configured to determine an expected hinge angle of the vehicle according to the first coordinate information and the second coordinate information, and determine a current front wheel steering angle of the vehicle according to the actual hinge angle and the expected hinge angle of the vehicle, so that the vehicle runs according to the front wheel steering angle;
the expected hinging angle is an expected included angle between the headstock and the trailer in the process that the tail end center point of the vehicle reaches the target point, and the actual hinging angle is a current actual included angle between the headstock and the trailer.
In some embodiments, the obtaining module 501 is specifically configured to: acquiring third coordinate information of a gravity center point of the vehicle head and an actual hinging angle; and determining first coordinate information corresponding to the tail end center point of the trailer according to the third coordinate information and the actual hinging angle.
In some embodiments, the obtaining module 501 is specifically configured to: determining a point, which is located on the expected reversing track and is located at a target distance from the tail end center point, as a target point, wherein the target distance is obtained according to the deviation distance between the vehicle and the expected reversing track; and determining second coordinate information corresponding to the target point according to the target distance and the first coordinate information.
In some embodiments, the determining module 502 is specifically configured to: determining a target angle according to the first coordinate information and the second coordinate information, wherein the target angle is an included angle between a connecting line of a tail end center point and a target point and a central line of the trailer; from the target angle, a desired articulation angle of the vehicle is determined.
In some embodiments, the vehicle control device further includes a processing module 503, where the obtaining module 501 is specifically configured to:
acquiring an actual hinge angle of a vehicle; if the actual hinging angle is smaller than or equal to the safety threshold, determining a front wheel steering angle of the vehicle according to the first feedback coefficient, the actual hinging angle and the expected hinging angle of the vehicle; and if the actual hinging angle is larger than the safety threshold, acquiring the front wheel steering angle according to the second feedback coefficient and the actual hinging angle.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure. As shown in fig. 6, the electronic device 600 includes: a memory 601 and a processor 602;
the memory 601 is used for storing program instructions; the processor 602 is configured to invoke program instructions in the memory 601 to execute the vehicle control method as in the above-described embodiment.
In the above-described electronic device 600, the memory 601 and the processor 602 are electrically connected directly or indirectly to enable transmission or interaction of data. For example, the elements may be electrically connected to each other via one or more communication buses or signal lines, such as through a bus connection. The memory 601 stores computer-executable instructions for implementing a data access control method, including at least one software functional module that may be stored in the memory 604 in the form of software or firmware, and the processor 602 executes the software programs and modules stored in the memory 601 to perform various functional applications and data processing.
The Memory 601 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 601 is used for storing a program, and the processor 602 executes the program after receiving an execution instruction. Further, the software programs and modules within the memory 601 may also include an operating system, which may include various software components and/or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.
The processor 602 may be an integrated circuit chip with signal processing capabilities. The processor 601 may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), and the like. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Alternatively, the electronic device may be a vehicle or a control device of the vehicle, for example, a vehicle-mounted computer, a tablet computer, or the like.
The embodiment of the application also provides a vehicle, which comprises: the vehicle head, trailer and vehicle control apparatus in the embodiment shown in fig. 6.
Embodiments of the present application also provide a computer readable storage medium, where computer executable instructions are stored, where the computer executable instructions are used to implement steps of the vehicle control method in the above method embodiments when executed by a processor.
Embodiments of the present application also provide a computer program product, including a computer program, which when executed by a processor implements the vehicle control method in the above method embodiments.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program, which may be stored on a non-transitory computer readable storage medium and which, when executed, may comprise the steps of the above-described embodiments of the methods. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Thus far, the technical solution of the present application has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present application is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present application, and such modifications and substitutions will be within the scope of the present application.
Claims (7)
1. A vehicle control method, wherein the vehicle includes a head and a trailer, the control method comprising:
acquiring first coordinate information corresponding to a tail end center point of the trailer;
acquiring second coordinate information corresponding to a target point on an expected reversing track of the vehicle;
determining a target angle according to the first coordinate information and the second coordinate information; the target angle is an included angle between a central axis of the vehicle head when the vehicle is at the current position and a central axis of the vehicle head when the vehicle is at the target point;
determining a desired articulation angle of the vehicle according to the target angle; the expected hinging angle is an expected included angle between the headstock and the trailer in the process that the tail end center point of the vehicle reaches the target point;
acquiring an actual articulation angle of the vehicle; the actual hinging angle is the current actual included angle between the headstock and the trailer;
if the actual hinging angle is smaller than or equal to a safety threshold, determining a front wheel steering angle of the vehicle according to a first feedback coefficient, the actual hinging angle of the vehicle and the expected hinging angle;
and if the actual hinging angle is larger than the safety threshold, acquiring the front wheel steering angle of the vehicle according to a second feedback coefficient and the actual hinging angle, wherein the first feedback coefficient and the second feedback coefficient are determined according to the actual hinging angle of the vehicle.
2. The vehicle control method according to claim 1, wherein the acquiring first coordinate information corresponding to a center point of a trailing end of the trailer includes:
acquiring third coordinate information of the gravity center point of the locomotive and the actual hinging angle;
and determining first coordinate information corresponding to the tail end center point of the trailer according to the third coordinate information and the actual hinging angle.
3. The vehicle control method according to claim 1, characterized in that the acquiring the second coordinate information corresponding to the target point on the desired reverse trajectory of the vehicle includes:
determining a point, which is the target distance from the tail end center point, on the expected reversing track as the target point, wherein the target distance is obtained according to the deviation distance between the vehicle and the expected reversing track;
and determining second coordinate information corresponding to the target point according to the target distance and the first coordinate information.
4. A vehicle control apparatus, wherein the vehicle includes a head and a trailer, the vehicle control apparatus comprising:
the acquisition module is used for acquiring first coordinate information corresponding to a tail end center point of the trailer and acquiring second coordinate information corresponding to a target point on an expected reversing track of the vehicle;
the determining module is used for determining a target angle according to the first coordinate information and the second coordinate information; the target angle is an included angle between a central axis of the vehicle head when the vehicle is at the current position and a central axis of the vehicle head when the vehicle is at the target point; determining a desired articulation angle of the vehicle according to the target angle; the expected hinging angle is an expected included angle between the headstock and the trailer in the process that the tail end center point of the vehicle reaches the target point;
the acquisition module is also used for acquiring the actual hinging angle of the vehicle; the actual hinging angle is the current actual included angle between the headstock and the trailer;
the processing module is used for determining the front wheel steering angle of the vehicle according to a first feedback coefficient, the actual hinging angle of the vehicle and the expected hinging angle if the actual hinging angle is smaller than or equal to a safety threshold value; and if the actual hinging angle is larger than the safety threshold, acquiring the front wheel steering angle of the vehicle according to a second feedback coefficient and the actual hinging angle, wherein the first feedback coefficient and the second feedback coefficient are determined according to the actual hinging angle of the vehicle.
5. An electronic device, comprising: a memory and a processor;
the memory is used for storing program instructions;
the processor is configured to invoke program instructions in the memory to perform the vehicle control method of any of claims 1-3.
6. A vehicle, characterized in that the vehicle comprises: a vehicle head, a trailer and an electronic device as claimed in claim 5.
7. A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, which when executed by a processor, are adapted to implement the vehicle control method according to any one of claims 1 to 3.
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| CN202111520760.1A CN114394086B (en) | 2021-12-13 | 2021-12-13 | Vehicle control method and device, vehicle and storage medium |
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| CN202111520760.1A CN114394086B (en) | 2021-12-13 | 2021-12-13 | Vehicle control method and device, vehicle and storage medium |
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| CN114394086B true CN114394086B (en) | 2024-01-09 |
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| EP2644477A1 (en) * | 2012-03-27 | 2013-10-02 | Volkswagen Aktiengesellschaft | Assistance devices and method for operating an assistance device for controlling the driving of a traction vehicle with trailer |
| DE102013000198A1 (en) * | 2013-01-08 | 2014-07-10 | Volkswagen Aktiengesellschaft | Method for ranking of car/trailer combination, involves performing maneuvering of towing vehicle with active steering assistance while maintaining predetermined direction of travel up to final parking position |
| CN109747637A (en) * | 2019-03-13 | 2019-05-14 | 合肥工业大学 | A kind of semi-trailer train is moved backward into the Induction Control method of position |
| CN113665567A (en) * | 2021-09-18 | 2021-11-19 | 蔚来汽车科技(安徽)有限公司 | Control method and control system for automatic reversing of vehicle with trailer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200001920A1 (en) * | 2018-07-02 | 2020-01-02 | Ohio State Innovation Foundation | Systems and methods for preventing a jackknife condition in a tractor-trailer system |
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|---|---|---|---|---|
| EP2644477A1 (en) * | 2012-03-27 | 2013-10-02 | Volkswagen Aktiengesellschaft | Assistance devices and method for operating an assistance device for controlling the driving of a traction vehicle with trailer |
| DE102013000198A1 (en) * | 2013-01-08 | 2014-07-10 | Volkswagen Aktiengesellschaft | Method for ranking of car/trailer combination, involves performing maneuvering of towing vehicle with active steering assistance while maintaining predetermined direction of travel up to final parking position |
| CN109747637A (en) * | 2019-03-13 | 2019-05-14 | 合肥工业大学 | A kind of semi-trailer train is moved backward into the Induction Control method of position |
| CN113665567A (en) * | 2021-09-18 | 2021-11-19 | 蔚来汽车科技(安徽)有限公司 | Control method and control system for automatic reversing of vehicle with trailer |
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